We have proposed an A*-EC hybrid path planning method for UAVs which can generate a waypoint traveling path considering terrain and obstacles in 3D environment. Although the path generated by the method is suboptimal, calculation time is short enough ...
We have proposed an A*-EC hybrid path planning method for UAVs which can generate a waypoint traveling path considering terrain and obstacles in 3D environment. Although the path generated by the method is suboptimal, calculation time is short enough to use in real time. We have developed a real time Hardware-In-The-Loop (HIL) flight simulator to confirm that the method can be used in real time. In this paper, we show the results of the real time HIL simulation for the evaluation of the A*-EC hybrid method using onboard path planning computer which is planned to be used in flight testing and recorded actual weather information as moving obstacles.